CN102848399A - Robot and robot hand - Google Patents
Robot and robot hand Download PDFInfo
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- CN102848399A CN102848399A CN201210224316XA CN201210224316A CN102848399A CN 102848399 A CN102848399 A CN 102848399A CN 201210224316X A CN201210224316X A CN 201210224316XA CN 201210224316 A CN201210224316 A CN 201210224316A CN 102848399 A CN102848399 A CN 102848399A
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- holding assembly
- robot
- pair
- contact component
- pistons
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/30—End effector
- Y10S901/31—Gripping jaw
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention provides a robot and a robot hand, universality can be ensured and miniaturization can be realized. A robot (100) includes a robot arm (103L, 103R). A robot hand (120) is disposed at a distal end of the robot arm (103L, 103R) and is capable of holding a microporous plate (3). The robot hand (120) includes an air chuck device (121) including a pair of pistons (124) and an air cylinder. The air cylinder opens and closes the pistons (124) in parallel to one another. A pair of gripping members (122) for long sides are disposed at a first side of the pistons (124) and move close to and apart from one another. A pair of gripping members for short sides (123) are disposed at a second side of the pistons (124) and move close to and apart from one another within a movable range different from that of the gripping members (122) for long sides. The robot hand (120) pivots relative to the robot arm (103L, 103R) about a pivot axis (Ax8, Ax15) approximately perpendicular to the movable plane of the gripping members (122) for long sides and the gripping members for short sides (123).
Description
Technical field
Disclosed embodiment relates to robot and the robot thereof that possesses the robot that can grip object.
Background technology
In the past, the known robot (for example, with reference to patent documentation 1) that is located at the terminal of robot arm and can grips object.This robot (clamping device) has: can be along away from each other and 2 holding assemblies moving of the direction that approaches; With the motor that drives described holding assembly.
Patent documentation 1: the real fair 8-10523 communique of Japan
For the workability and the aesthetic appearance that do not reduce robot, the cable class that the driving of robot relates to generally connects up in robot arm.Yet, as the robot of above-mentioned prior art, adopting in the situation of motor as the drive source of holding assembly, have following problems: not only robot will have the space that arranges of motor, and because the power cable that motor is used is thick, therefore it carefully is difficult making robot arm, and the miniaturization of robot is restricted.
Therefore, consideration replaces motor and adopts cylinder to come the holding assembly of driven machine staff.In this case, do not need the space that arranges of motor, and, being used for supplying with the power cable that compressed-air actuated air hose uses than motor thin, therefore, can address the above problem.Yet, in the situation that use the air cylinder driven holding assembly, and different from the situation that adopts motor, generally be when hand is opened, 2 holding assemblies to be opened up into movable range to greatest extent.Therefore, in the situation of setting movable area greatly in order to grip the large object of size, holding assembly opens significantly when hand is opened, therefore, different according to operating environment, exist holding assembly and contact, cause the danger such as breakage with on every side equipment.On the other hand, in the situation of setting the movable area of holding assembly narrow in order to prevent this problem, can only grip the little limited object of size.Like this, robot is being carried out in the air operated situation, need to form the respective specification corresponding with the size of operating environment and object, having the problem that does not have versatility.
Summary of the invention
The present invention finishes in view of this problem, and its purpose is to provide can guarantee that versatility can realize again robot and the robot of miniaturization.
In order to solve above-mentioned problem, according to a viewpoint of the present invention, use a kind of robot, this robot possesses the robot that can grip object at the end of robot arm, described robot has: air spider device, described air spider device utilize cylinder to make pair of pistons open and close abreast motion; A pair of the 1st holding assembly, described a pair of the 1st holding assembly is located at respectively a side of described pair of pistons, and can be along moving with the direction that approaches away from each other; With a pair of the 2nd holding assembly, described a pair of the 2nd holding assembly is located at respectively the opposite side of described pair of pistons, and can be in the movable area different from described the 1st holding assembly along moving with the direction that approaches away from each other, described robot constitutes, can with respect to the end of described robot arm around with the rotating shaft rotation of the movable surface approximate vertical of described the 1st holding assembly and described the 2nd holding assembly.
According to robot of the present invention and robot, can either guarantee that versatility can realize miniaturization again.
Description of drawings
Fig. 1 is the integrally-built system construction drawing that the robot system of an embodiment conceptually is shown.
Fig. 2 is top view and the side view of microwell plate.
Fig. 3 is front view and the top view of robot.
Fig. 4 is the stereogram that amplifies the hand portion that arm is shown.
Fig. 5 is the upward view of hand.
Fig. 6 is side view, top view and the upward view that amplifies the contact component part of the end installation that is illustrated in long limit holding assembly.
Fig. 7 is the cutaway view of VIIB-VIIB section among (a) of the cutaway view of VIIA-VIIA section among Fig. 6 (a) and Fig. 6.
Fig. 8 is at the stereogram that will install and equipment is arranged in the variation that plate is set, amplification illustrates the hand portion of arm.
Label declaration
3: microwell plate (object);
100: robot;
103L, 103R: arm (robot arm);
120: hand (robot);
121: the air spider device;
122: long limit holding assembly (the 1st holding assembly);
123: minor face holding assembly (the 2nd holding assembly);
124: piston;
128: bend;
130: contact component;
132a: tooth section;
133: rubber components;
142: spring;
150: barcode reader (recognition device);
151: sucker;
152: vacuum plant;
Ax8, Ax15: rotating shaft;
L1, L2: movable area.
The specific embodiment
Below, with reference to accompanying drawing one embodiment is described.
As shown in Figure 1, the robot system 1 of present embodiment possesses the robot controller 200 of the action of robot 100 and this robot 100 of control.Described robot 100 and robot controller 200 connect into can intercom mutually (but perhaps also wireless connections) via cable 2.In addition, also robot controller can be arranged on robot 100 sides.
Shown in Fig. 2 (a), Fig. 2 (b), microwell plate 3 is overlooked and is roughly rectangular shape, and microwell plate 3 possesses main body 3a and is installed in the lid 3b of the upper surface side of this main body 3a in the mode that can load and unload.Upper surface at main body 3a is formed with a plurality of (being the in this example 96) pit (well) 4 that injects for aqueous sample with being clathrate.
Shown in Fig. 3 (a), Fig. 3 (b), the base station 101 of robot 100 is fixing with respect to face (such as the ground board etc.) is set by not shown foundation bolt etc.
And, at the end (that is, the end of arm 103L) of bead 110L above-mentioned hand 120 is installed.The hand 120 of installing at the end of bead 110L rotates around the 8th rotating shaft Ax8 with the rotating gang ground around the 8th rotating shaft Ax8 of bead 110L.
And, at the end (that is, the end of arm 103R) of bead 110R above-mentioned hand 120 is installed.The hand 120 of installing at the end of bead 110R rotates around the 15th rotating shaft Ax15 with the rotating gang ground around the 15th rotating shaft Ax15 of bead 110R.
In addition, in this example, arm 103L, 103R have i.e. 7 frees degree of 7 joint portions, the redundant degree of freedom that has 1 free degree with respect to 3 translation freedoms and 3 rotary freedoms, but the free degree of arm 103L, 103R is not limited to " 7 ".
And, shown in Fig. 3 (b), body section 102 forms from the 1st joint portion to the 2 and the 9th joint portion with respect to base station 101 protrudes towards horizontal the place ahead, so that the 1st rotating shaft Ax1 staggering with the above-mentioned direction that the face approximate vertical is set with respect to the 2nd rotating shaft Ax2 and the 9th rotating shaft Ax9, and the length that staggers is D1.Thus, can either with the space of the lower side of shoulder 104L, 104R as working space, can the coverage of arm 103L, 103R be enlarged by making rotating shaft Ax1 rotation again.
And, the shape of the upper arm B 106R of section is set for so that stagger in the 11st rotating shaft Ax11 and the 12nd position of rotating shaft Ax12 in top view, and the length that staggers is D2.And, the shape of lower arm part 107R is set for so that stagger in the 12nd rotating shaft Ax12 and the 13rd position of rotating shaft Ax13 in top view, and the length that staggers is D3, when the 11st rotating shaft Ax11 and the 13rd rotating shaft Ax13 became the posture of approximate vertical, the length that staggers of the 11st rotating shaft Ax11 and the 13rd rotating shaft Ax13 was (D2+D3).Thus, when the 12nd joint portion that makes " elbow " that be equivalent to the people is crooked, the upper arm A 105R of section and the upper arm B 106R of section and the gap that is equivalent between people's the underarm A 107R of section of " underarm " of " upper arm " that can guarantee to be equivalent to the people is large, even further near in the situation of body section 102, also can enlarge the degree of freedom of motion of arm 103R at hand 120 that the end of bead 110R is installed.
And, although clearly do not illustrate in Fig. 3 (b), for arm 103L too, the shape of the upper arm B 106L of section is set for so that stagger in the 4th rotating shaft Ax4 and the 5th position of rotating shaft Ax5 in top view, and the length that staggers is D2.And, with the shape of lower arm part 107L so that the 5th rotating shaft Ax5 and the 6th position of rotating shaft Ax6 in top view stagger, and the length that staggers is D3, when the 4th rotating shaft Ax4 and the 6th rotating shaft Ax6 became the posture of approximate horizontal, the length that staggers of the 4th rotating shaft Ax4 and the 6th rotating shaft Ax6 was (D2+D3).
Such as Fig. 4 and shown in Figure 5, the hand 120 of installing at the end of bead 110L has: the air spider device of known parallelly opening-and-closing type is air spider device 121; A pair of long limit holding assembly 122(the 1st holding assembly); With pair of short edges holding assembly 123(the 2nd holding assembly).And, this hand 120 constitute can with respect to the end of bead 110L around with long limit with above-mentioned the 8th rotating shaft Ax8 rotation with the movable surface approximate vertical of holding assembly 123 of holding assembly 122 and minor face.That is, the 8th rotating shaft Ax8 rotating shaft that is equivalent to put down in writing in claims.
A pair of long limit is installed in respectively a side (right-hand inboard among Fig. 4, right side among Fig. 5) of above-mentioned pair of pistons 124 by fixing with not shown bolt under the state of inboard with holding assembly 122 lip portions 122a endways.Described long limit constitutes and can move with the direction that approaches away from each other on predetermined movable area L1 edge in linkage with the on-off action of piston 124 with holding assembly 122, and mobile stroke and the stroke identical (in Fig. 5, S represents range with label) of piston 124.Open with holding assembly 122 under the maximum state on a pair of long limit with the movable area L1 of holding assembly 122 on long limit, long limit holding assembly 122 largest interval each other.In addition, use under the at utmost closed state of holding assembly 122 on a pair of long limit, long limit is " L1-2S " with holding assembly 122 minimum interval each other.And long limit is corresponding with the long limit of microwell plate 3 with the movable area L1 of holding assembly 122, utilizes described long limit to use holding assembly 122 to grip microwell plate 3 from the direction of long side.That is, the side of the long side of microwell plate 3 face that long limit grips with holding assembly 122 of serving as reasons.
Pair of short edges is with under the holding assembly 123 lip portions 123a endways state toward the outer side, is installed in respectively the opposite side (left side nearby among Fig. 4, among Fig. 5 on the left of) of above-mentioned pair of pistons 124 by fixing with not shown bolt.Described minor face constitutes and can move with the direction that approaches away from each other on predetermined movable area L2 edge in linkage with the on-off action of piston 124 with holding assembly 123, and mobile stroke and the stroke identical (in Fig. 5, S represents range with label) of piston 124.Minor face is that pair of short edges is opened minor face holding assembly 123 largest interval each other under the maximum state with holding assembly 123 with the movable area L2 of holding assembly 123.In addition, use under the at utmost closed state of holding assembly 123 in pair of short edges, minor face is " L2-2S " with holding assembly 123 minimum interval each other.And, minor face is configured to different with the movable area L1 of holding assembly 122 from above-mentioned long limit with the movable area L2 of holding assembly 123, particularly, movable area L2 is narrower than movable area L1, described movable area L2 is corresponding with the minor face of microwell plate 3, utilizes described minor face to use holding assembly 123 to grip microwell plate 3 from the direction of short brink.That is, the side of the short brink of microwell plate 3 is the face that is gripped with holding assembly 123 by minor face.
Be respectively arranged with the contact component 130 that for microwell plate 3 contact with holding assembly 122 and minor face with the end of holding assembly 123 on these long limits.
Shown in Fig. 6 (a), Fig. 6 (b), Fig. 6 (c) and Fig. 7 (a), Fig. 7 (b), have when analysing and observe on long limit with the contact component 130 of the end setting of holding assembly 122 and be roughly
The main part 131 of word shape, flat board member 132 and rubber components 133.
Above-mentioned flat board member 132 is by 2 bolts, the 143 fixing downsides that are installed in lower board unit 131b.At this moment, these bolts 143 is inserted into respectively 2 recesses 127 that arrange with the end side of holding assembly 122 on long limit from the outstanding protuberance of lower board unit 131b.Flat board member 132 has the jagged tooth 132a of section at the end of a side of leaning on microwell plate 3.When long limit grips microwell plate 3 with holding assembly 122, the 132a of the tooth section microwell plate 3 of nipping.That is, the 132a of tooth section becomes the part of the contact-making surface that contacts with microwell plate 3.In addition, flat board member 132 has the 132a of tooth section at the end by a side of microwell plate 3 and is equal to the part of contact component 130 on the surface that contacts with microwell plate 3 and has the 132a of tooth section.
The side by microwell plate 3 at side plate 131c is provided with above-mentioned rubber components 133.When long limit grips microwell plate 3 with holding assembly 122, rubber components 133 and microwell plate 3 CONTACT WITH FRICTION.That is, rubber components 133 also becomes the part of the contact-making surface that contacts with above-mentioned microwell plate 3.In addition, by a side of microwell plate 3 rubber components 133 being set and being equal to the part of contact component 130 on the surface that contacts with microwell plate 3 and having rubber components 133 at side plate 131c.
Length direction approximate centre section at main part 131 is provided with pin 140, and described pin 140 connects upper plate portion 131a, length limit holding assembly 122 and lower board unit 131b.At upper end side and lower end side construction bolt 141a, the 141b of pin 140, thereby pin 140 can not deviate from.Thus, main part 131(in other words, contact component 130 integral body) can swing take its length direction central part as axle.In addition, main part 131 swings with above-mentioned bolt 143 when swinging take the length direction central part as axle, but as mentioned above, by with bolt 143 insert long limit with the recess 127 of holding assembly 122 from the outstanding protuberance of lower board unit 131b, thereby so that bolt 143 can swing.And, the opposed faces relative with the length direction both ends of side plate 131c on long limit with the end side of holding assembly 122, be respectively arranged with spring with recess 126, respectively taken in spring 142 at these springs with recess 126 with the mode between holding assembly 122 and the side plate 131c to be clipped on long limit.These springs 142 active force that 131 effects are pressed towards microwell plate 3 sides to main part respectively.Therefore, main part 131(in other words, contact component 130 integral body) the length direction both ends by spring 142 towards the microwell plate 3 side application of forces.
For the contact component 130 that arranges with the end of holding assembly 122 on the long limit that consists of as mentioned above, do not grip with holding assembly 122 under the non-gripping state of microwell plate 3 on long limit, by the length direction both ends application of force to main part 131, thereby main part 131 is held in respect to long limit holding assembly 122 almost parallels.On the other hand, grip under the gripping state of microwell plate 3 with holding assembly 122 on long limit, by main part 131 is swung take the length direction central part as axle, thereby while the above-mentioned tooth 132a of section and rubber components 133 adapt to the shape of microwell plate 3 contacts with microwell plate 3.
In addition, above to the contact component 130 with the end setting of holding assembly 122 is illustrated on long limit, the record on " long limit with holding assembly 122 " in the explanation of the contact component 130 that will arrange with the end of holding assembly 122 on long limit replaces with " minor face with holding assembly 123 ", then minor face is the same with this situation with the contact component 130 of the end setting of holding assembly 123, and therefore description thereof is omitted.
Get back to Fig. 4, long limit respectively has bend 128 with holding assembly 123 at the mid portion of length direction with holding assembly 122 and minor face, and described bend 128 is so that above-mentioned contact component 130 is crooked in the mode that short transverse is in lower position.
In addition, grow the limit mutually the same with the structure of holding assembly 123 self with holding assembly 122 self and minor face.Therefore, by a pair of long limit is mounted to above-mentioned lip portions 122a toward the outer side with holding assembly 122, then can use with holding assembly as pair of short edges, by pair of short edges is mounted to above-mentioned lip portions 123a towards the inboard with holding assembly 123, then can use with holding assembly as a pair of long limit.
And, above the hand 120 of installing at the end of bead 110L is illustrated, " bead 110L " in the explanation of the hand 120 that the end of bead 110L is installed, the record of " the 8th rotating shaft Ax8 " are replaced with respectively " bead 110R ", " the 15th rotating shaft Ax15 ", the hand 120 of then installing at the end of bead 110R is the same with this situation, and therefore description thereof is omitted.That is, the 15th rotating shaft Ax15 also is equivalent to the rotating shaft put down in writing in claims.
As described above, in the robot system 1 of present embodiment, the hand 120 that possesses respectively at the end of arm 103L, the 103R of robot 100 have air spider device 121, a pair of long limit with holding assembly 122 and pair of short edges with holding assembly 123.Long limit with holding assembly 122 and minor face with holding assembly 123 each other on different movable area L1, L2 edge away from moving identical stroke with approaching direction.Thus, the hand 120 of the end by making arm 103L, 103R is around rotating shaft Ax8, Ax15 rotation, can separately use long limit with holding assembly 122 and minor face with holding assembly 123.Namely, set extensively with the movable area of holding assembly 122 long limit, set narrowly with the movable area of holding assembly 123 minor face, grip at the long side large from size in the situation of microwell plate 3, the enough long limits of energy holding assembly 122, grip at the short brink little from size in the situation of microwell plate 3, can enough minor faces holding assembly 123.And, narrow and can not obtain in the situation of large movable area at the working space of hand 120, can enough minor faces with holding assembly 123, wide and can obtain in the situation of large movable area the enough long limits of energy holding assembly 122 at working space.Like this, can separately use 2 kinds of holding assemblies 122,123 by 1 air spider device 121 according to the size and the operating environment that grip object, therefore, can improve versatility.And, owing to compressed air is driven the holding assembly 122,123 of hand 120 as drive source, therefore, compare with the situation that adopts motor, need not the space that arranges of motor, and, because the power cable that the compressed-air actuated air hose of supply is used than motor is thin, therefore, can make arm 103L, 103R thinner, can make robot 100 integral miniaturization.Therefore, can guarantee that versatility can realize miniaturization again.
And, in the present embodiment, especially, hand 120 consists of in the mode of the microwell plate 3 that can grip rectangular shape, long limit is corresponding with the long limit of microwell plate 3 with the movable area L1 of holding assembly 122, and minor face is corresponding with the minor face of microwell plate 3 with the movable area L2 of holding assembly 123.Thus, hand 120 can grip from any one direction of long side and short brink the microwell plate 3 of rectangular shape, can improve workability.
And, in the present embodiment, especially, hand 120 respectively has contact component 130 with holding assembly 122 and minor face with the end of holding assembly 123 on long limit, and contact component 130 has the jagged tooth 132a of section in the part of the contact-making surface that contacts with microwell plate 3.Thus, when gripping microwell plate 3 with holding assembly 122 and minor face with holding assembly 123 on long limit, the 132a of the tooth section microwell plate 3 of nipping can prevent landing and the rotation of microwell plate 3, can grip securely.
And in the present embodiment, especially, contact component 130 has rubber components 133 in the part of the contact-making surface that contacts with microwell plate 3.Thus, when using holding assembly 122 and minor face to grip microwell plate 3 with holding assembly 123 on long limit, by the friction of rubber components 133, can prevent landing and the rotation of microwell plate 3.Especially, as present embodiment, in the situation that contact-making surface have the jagged tooth 132a of section and rubber components 133 the two, contact component 130 can make the 132a of the tooth section microwell plate 3 of nipping can make again rubber components 133 CONTACT WITH FRICTION, therefore, can more effectively prevent landing and the rotation of microwell plate 3.
And in the present embodiment, especially, contact component 130 is configured to take the length direction central part as axle to swing, the length direction both ends by spring 142 towards the microwell plate 3 side application of forces.Thus, the two ends of contact component 130 are biased under non-gripping state, thereby contact component 130 is retained with respect to holding assembly 122,123 almost parallels, therefore, can make the contact when gripping microwell plate 3 good.On the other hand, under the gripping state, contact while can adapt to the shape of microwell plate 3 by the swing of contact component 130, therefore can carry out gripping flexibly with the shape of microwell plate 3 is corresponding.
And in the present embodiment, especially, long limit has bend 128 with holding assembly 123 at the mid portion of length direction with holding assembly 122 and minor face, and described bend 128 is so that contact component 130 is crooked in the mode that short transverse is in lower position.Thus, make long limit avoid microwell plate 3 and ambient (fixed frame of microwell plate 3 etc.) thereof with holding assembly 122 and minor face with the part beyond the contact component of holding assembly 123, can avoid holding assembly 122,123 with unnecessary the contacting of microwell plate 3 etc., therefore can improve workability.
In addition, embodiment is not limited to foregoing, can carry out various distortion in the scope of not disconnector purport and technological thought.Below, such variation is described.
As shown in Figure 8, at the hand 120(of this variation in this example, be illustrated in the hand 120 that the end of the bead 110L of arm 103L is installed) in, be respectively arranged with barcode reader 150(recognition device at the plate 125 that arranges of air spider device 121 via support unit 150a, 151a, 152a), the vacuum plant 152 of sucker 151 and this sucker 151 usefulness.
The structure of the hand 120 beyond above-mentioned is the same with above-mentioned embodiment.
According to this variation, by the plate 125 that arranges at air spider device 121 barcode reader 150 is set, can grip on the basis of identifying microwell plate 3.And, by sucker 151 and vacuum plant 152 being set plate 125 is set, can not only grip microwell plates 3 with hand 120, and can carry out the processing operation (for example loading and unloading of the lid 3b of microwell plate 3) of the article related with microwell plate 3.
In addition, in above-mentioned variation, be provided with barcode reader 150, sucker 151 and vacuum plant 152 plate 125 is set, but be not limited to this, also can barcode reader 150 only be set plate 125 is set.Perhaps, also can sucker 151 and vacuum plant 152 only be set plate 125 is set.Perhaps, also can device and equipment beyond barcode reader 150, sucker 151 and the vacuum plant 152 be set plate 125 is set.
And, in above-mentioned variation, be provided with barcode reader 150 as recognition device, but be not limited to this, as recognition device, also such video camera can be set, it passes through from the QR code
Two-dimension codes such as (registration marks) is identified microwell plate 3 with the optical mode reading information.Perhaps, as recognition device, also can arrange by identify the IC chip reader of microwell plate 3 from IC chip reading information.
And, more than, be that the situation with tow-armed robot of 2 arm 103L, 103R is illustrated as example take robot 100, but be not limited to this, as robot, also can be the one armed robot with 1 arm.Perhaps, also can be the robot with the arm more than 3.Also can obtain same effect in these situations.
And, more than, the microwell plate 3 of rectangular shape as object, but is not limited to this, also can be with the article of the rectangular shape beyond the microwell plate 3 (such as the substrate of rectangular shape etc.) as object.Perhaps, be not limited to rectangular shape, also can be with the article of the shape beyond the rectangle (such as elliptical shape etc.) as object.
And, except already described above, also can carry out appropriate combination and utilize the gimmick of described embodiment and each variation.
In addition, though illustration one by one not, described embodiment and each variation can be in the scope that does not break away from its purport in addition various changes and implementing.
Claims (8)
1. robot, this robot possesses the robot that can grip object at the end of robot arm, it is characterized in that,
Described robot has:
Air spider device, described air spider device utilize cylinder to make pair of pistons open and close abreast motion;
A pair of the 1st holding assembly, described a pair of the 1st holding assembly is located at respectively a side of described pair of pistons, and can be along moving with the direction that approaches away from each other; With
A pair of the 2nd holding assembly, described a pair of the 2nd holding assembly is located at respectively the opposite side of described pair of pistons, and can move with the direction that approaches away from each other on the movable area edge different from described the 1st holding assembly,
Described robot constitutes, can with respect to the end of described robot arm around with the rotating shaft rotation of the movable surface approximate vertical of described the 1st holding assembly and described the 2nd holding assembly.
2. robot according to claim 1 is characterized in that,
Described robot consists of in the mode of the described object that can grip rectangular shape,
One in the movable area of the movable area of described the 1st holding assembly and described the 2nd holding assembly is corresponding with the long limit of described object, and another one is corresponding with the minor face of described object.
3. robot according to claim 1 and 2 is characterized in that,
Described robot has respectively the contact component that contacts for described object at the end of described the 1st holding assembly and described the 2nd holding assembly,
Described contact component has jagged tooth section at least a portion of the contact-making surface that contacts with described object.
4. the described robot of any one is characterized in that according to claim 1～3,
Described robot has respectively the contact component that contacts for described object at the end of described the 1st holding assembly and described the 2nd holding assembly,
Described contact component has rubber components at least a portion of the contact-making surface that contacts with described object.
5. the described robot of any one is characterized in that according to claim 1～4,
Described robot has respectively the contact component that contacts for described object at the end of described the 1st holding assembly and described the 2nd holding assembly,
Described contact component is arranged to and can be swung take the length direction central part as axle, and the length direction both ends of described contact component by spring towards the described object side application of force.
6. the described robot of any one is characterized in that according to claim 3～5,
Described the 1st holding assembly and described the 2nd holding assembly have respectively bend at the mid portion of length direction, and described bend is so that described contact component is crooked in the mode that short transverse is in lower position.
7. the described robot of any one is characterized in that according to claim 1～6,
Described air spider device has the plate of setting, described at least one of recognition device that plate can arrange the vacuum plant that sucker, described sucker use and be used for identifying described object is set.
8. robot, this robot is located at the terminal of robot arm and can grips object in revolvable mode, it is characterized in that,
Described robot has:
Air spider device, described air spider device utilize cylinder to make pair of pistons open and close abreast motion;
A pair of the 1st holding assembly, described a pair of the 1st holding assembly is located at respectively a side of described pair of pistons, and can be along moving with the direction that approaches away from each other; With
A pair of the 2nd holding assembly, described a pair of the 2nd holding assembly is located at respectively the opposite side of described pair of pistons, and can be in the movable area different from described the 1st holding assembly along moving with the direction that approaches away from each other.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2011142928A JP5582313B2 (en) | 2011-06-28 | 2011-06-28 | Robot system |
| JP2011-142928 | 2011-06-28 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102848399A true CN102848399A (en) | 2013-01-02 |
| CN102848399B CN102848399B (en) | 2015-10-21 |
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ID=46384189
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210224316.XA Expired - Fee Related CN102848399B (en) | 2011-06-28 | 2012-06-28 | Robot and robot |
| CN 201220313409 Expired - Fee Related CN202825832U (en) | 2011-06-28 | 2012-06-28 | Robot and robot hand |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220313409 Expired - Fee Related CN202825832U (en) | 2011-06-28 | 2012-06-28 | Robot and robot hand |
Country Status (4)
| Country | Link |
|---|---|
| US (1) | US8857875B2 (en) |
| EP (1) | EP2540458A3 (en) |
| JP (1) | JP5582313B2 (en) |
| CN (2) | CN102848399B (en) |
Cited By (4)
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| CN103317508A (en) * | 2013-06-25 | 2013-09-25 | 东南大学 | Manipulator device for transfer of microporous plates |
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| CN112313048A (en) * | 2018-06-19 | 2021-02-02 | 株式会社安川电机 | Robot and robot hand |
| CN112313048B (en) * | 2018-06-19 | 2023-04-04 | 株式会社安川电机 | Robot and robot hand |
| WO2023109598A1 (en) * | 2021-12-15 | 2023-06-22 | 深圳先进技术研究院 | Safety clamping jaw and industrial robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102848399B (en) | 2015-10-21 |
| US20130001970A1 (en) | 2013-01-03 |
| US8857875B2 (en) | 2014-10-14 |
| JP2013010150A (en) | 2013-01-17 |
| EP2540458A2 (en) | 2013-01-02 |
| EP2540458A3 (en) | 2015-11-04 |
| JP5582313B2 (en) | 2014-09-03 |
| CN202825832U (en) | 2013-03-27 |
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